自抗扰控制方法在单级倒立摆摆角控制中的应用  

Autodisturbance rejection control method applied in angle control of a single inverted pendulum

作　　者：郭一军 GUO Yi-jun(College of Mechanical and Electrical Engineering,Huangshan University,Huangshan 245041,China)

机构地区：[1]黄山学院机电工程学院,安徽黄山245041

出　　处：《天津理工大学学报》2018年第6期37-40,共4页Journal of Tianjin University of Technology

基　　金：安徽省高校自然科学研究基金(KJHS2015B11)

摘　　要：针对存在扰动情况下的单级倒立摆摆角控制问题,设计一种基于自抗扰技术的倒立摆摆角控制方法.首先,利用牛顿-欧拉建模方法建立单级倒立摆模型,并将其表示成二阶系统.然后,将部分已知系统动态和扰动因素扩张为一个新的状态变量,设计扩张状态观测器对系统总和扰动进行估计.最后,在系统总和扰动估计的基础上设计非线性状态误差反馈控制律.仿真结果表明所设计控制器具有较高的控制精度和鲁棒性能.In this paper,a kind of control method based on active disturbance rejection control technique is proposed for the angle control of a single inverted pendulum under disturbance.Firstly,using Newton Euler modeling method to establish the model of a single inverted pendulum system,and the system model is represented as a two order system form.Then,by taking partial known system dynamic and disturbance term as a new state variable,the extended state observer is designed to estimate the total disturbance of the system.Finally,a nonlinear state error feedback control law is designed on the basis of the total disturbance estimation.The simulation results show that the designed controller has high control precision and robust performance.

关 键 词：单级倒立摆 总和扰动 扩张状态观测器 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]